Copley RUGGEDIZED DIGITAL SERVO DRIVE Controls fOR ...

CopleyControlsCorp. Accelnet R20

RUGGEDIZED DIGITAL SERVO DRIVE fOR BRUSHLESS/BRUSH MOTORS

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 1 of 22

RoHS

DESCRIPTIOnAccelnet R20 is a ruggedized high-performance, DC powered drive for position, velocity (using encoder, Halls, or BEMf), and torque control of brushless and brush motors. It operates as a distributed drive using the CAnopen or Devicenet protocols, or as a stand-alone drive accepting analog or digital commands from an external motion controller. In stand-alone mode, current and velocity modes accept digital 50% PWM or PWM/polarity inputs as well as ±10V analog. In position mode inputs can be incremental position commands from step-motor controllers, analog ±10V, or A/B quadrature commands from a master-encoder. Pulse to position ratio is programmable for electronic gearing.

Accelnet R20 models operate as Motion Control Devices under the DSP-402 protocol of the CAnopen DS-301 V4.01 (En 50325-4) application layer. DSP-402 modes supported include: Profile Position, Profile Velocity, Profile Torque, Interpolated Position Mode (PVT), and Homing. The two CAn ports are optically isolated from drive circuits.

There are twelve digital inputs eleven of which have programmable functions. These include CAn address, motion-abort, limit & home switches, stepper/encoder pulse inputs, reset, digital torque or velocity reference, and motor over-temperature. Input [In1] is dedicated for the drive Enable. There are three programmable logic outputs for reporting an drive fault, motor brake control, or other status indications.

Drive power is transformer-isolated DC from regulated or unregulated power supplies. An AuxHV input powers control circuits for “keep-alive” operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system.

COnTROL MODESIndexer, Point-to-Point, PVT• Camming, Gearing, Position, Velocity, Torque•

COMMAnD InTERfACEStepper commands • Single-ended or Differential selectableCAnopen/Devicenet• ASCII and discrete I/O• ±10V position/velocity/torque command• PWM velocity/torque command• Master encoder (Gearing/Camming)•

COMMUnICATIOnSCAnopen/Devicenet• RS-232•

fEEDBACkDigital quad A/B encoder• Aux encoder / emulated encoder out• Analog sin/cos encoder (-S versions)• Digital Halls•

I/O - DIGITAL12 inputs, 3 outputs•

DIMEnSIOnS: mm [in]168 x 99 x 31 [6.6 x 3.9 x 1.2]•

RUGGEDIZED STAnDARDS COnfORMAnCEAmbient Temperature non-Operating -50ºC to 85ºC Operating -40ºC to 70ºC Thermal Shock Operating -40ºC to 70ºC in 1 minute Relative Humidity non-Operating 95% non-condensing at 60ºC Operating 95% non-condensing at 60ºC Vibration Operating 5 Hz to 500 Hz, up to 3.85 grms Altitude non-Operating -400 m to 12,200 m Operating -400 m to 5,000 m Shock Crash Safety 75 g peak acceleration Operating 40 g peak acceleration MIL-STD specifications MIL-STD- 461, 704, 810, 1275, 1399 IEC specifications IEC- 60068, 60079

Add -S to part numbers above for sin/cos feedback

Model Ip Ic Vdc

R20-055-18 18 6 55

R20-090-09 9 3 90

R20-090-18 18 6 90

R20-090-36 36 12 90

R20-180-09 9 3 180

R20-180-18 18 6 180




RoHSGEnERAL SPECIfICATIOnS Test conditions: Load = Wye connected load: 2 mH + 2 Ω line-line. Ambient temperature = 25°C, +HV = HVmax

MODEL R20-055-18 R20-090-09 R20-090-18 R20-090-36 R20-180-09 R20-180-18

OUTPUT POWER Peak Current 18 (12.7) 9 (6.4) 18 (12.7) 36 (25.5) 9 (6.4) 18 (12.7) Adc (Arms), ±5% Peak time 1 1 1 1 1 1 Sec Continuous current 6 (4.2) 3 (2.1) 6 (4.2) 12 (8.5) 3 (2.1) 6 (4.2) Adc (Arms) per phase Peak Output Power 0.92 0.79 1.55 2.95 1.59 3.15 kW Continuous “ “ 0.32 0.27 0.53 1.06 0.53 1.06 kW Output resistance 0.075 0.075 0.075 0.036 0.075 0.075 Rout (Ω) Maximum Output Voltage Vout = HV*0.97 - Rout*Iout

InPUT POWER HVmin~HVmax +20 to +55 +20 to +90 +20 to +90 +20 to +90 +20 to +180 +20 to +180 Vdc, transformer-isolated Ipeak 20 10 20 40 10 20 Adc (1 sec) peak Icont 6.7 3.3 6.7 13.3 3.3 6.7 Adc continuous Aux HV +20 to +HV Vdc @ 500 mAdc maximum

PWM OUTPUTS Type 3-phase MOSfET inverter, 15 kHz center-weighted PWM, space-vector modulation PWM ripple frequency 30 kHz

DIGITAL COnTROL Digital Control Loops Current, velocity, position. 100% digital loop control Sampling rate (time) Current loop: 15 kHz (66.7 µs) Velocity, position loops: 3 kHz (333 µs) Commutation Sinusoidal, field-oriented control for brushless motors Modulation Center-weighted PWM with space-vector modulation Bandwidths Current loop: 2.5 kHz typical, bandwidth will vary with tuning & load inductance HV Compensation Changes in bus voltage do not affect bandwidth Minimum load inductance 200 µH line-line

COMMAnD InPUTS CANopen communications Profile Position, Profile Velocity, & Profile Torque, Interpolated Position (PVT), Homing Devicenet communications UCMM (Unconnected Message Manager) protocol for explicit message objects CANopen is the default communications mode, download firmware from web-site for DeviceNet Digital position reference Step/Direction, CW/CCW Stepper commands (2 MHz maximum rate) Quad A/B Encoder 2 M lines/sec, 8 M count/sec (after quadrature) Digital torque & velocity reference PWM , Polarity PWM = 0~100%, Polarity = 1/0 PWM PWM = 50% +/-50%, no polarity signal required PWM frequency range 1 kHz minimum, 100 kHz maximum PWM minimum pulse width 220 ns Analog torque, velocity, position ±10 Vdc Differential, 5 kΩ impedance

DIGITAL InPUTS number 12 Inputs [IN1~5,11,12] 74HC14 Schmitt trigger, 330 µs RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +24 Vdc max [In1] dedicated to drive enable function, other inputs are programmable Input [IN6] 74HC14 Schmitt trigger, 100 ns RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +12 Vdc max Inputs [IN7~10] Single-ended: Comparator with 2.5 Vdc reference, 100 ns RC filter, Vin-LO <2.3 Vdc, Vin-HI > 2.45 Vdc Differential: RS-485 line receiver on input pairs [IN9-7], and [IN10-8], 100 ns RC filters, +12 Vdc max All inputs 10 kΩ pull-up to +5 Vdc or pull-down to ground, selectable in groups, active level programmable

DIGITAL OUTPUTS number 3 [OUT1], [OUT2], [OUT3] Current-sinking MOSFET with 1 kΩ pullup to +5 Vdc through diode Current rating 1 Adc max, +30 Vdc max. functions programmable External flyback diode required if driving inductive loads

MULTI-MODE EnCODER PORT Operation Programmable as input for secondary (dual) digital encoder or as buffered outputs in quad A/B/X format for digital motor feedback encoder, or emulated encoder outputs from analog sin/cos motor feedback encoder (ServoTube) Signals Quad A/B Encoder: A, /A, B, /B, X, /X frequency As input for digital encoder: 5M lines/sec, 20 M count/sec (after quadrature) As buffered outputs for digital motor encoder: 5 M lines/sec, 20 M count/sec (after quadrature) As emulated encoder outputs for sin/cos analog motor encoder: 4.5 M lines/sec, 18 M count/sec (after quadrature) Input/output 26C32 differential line receiver with 121 Ω line terminators, or 26C31 differential line driver

RS-232 PORT Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector. Mode full-duplex, serial communication port for drive setup and control, 9,600 to 115,200 Baud Protocol ASCII or Binary format Multi-drop ASCII interface from single RS-232 port to control multiple drives (Xenus, Accelnet, Stepnet) Drive with serial connection acts as master for bi-directional data flow to other drives using CAn connections in daisy-chain from drive to drive

CAn PORT Signals CAnH, CAnL, Gnd in dual 8-position RJ-45 style modular connectors, wired as per CAn Cia DR-303-1, V1.1 CAn interface circuit and +5 Vdc supply are optically isolated from drive circuits format CAn V2.0b physical layer for high-speed connections compliant Data CANopen Device Profile DSP-402 Address selection 16 position rotary switch on front panel with 3 additional address bits available as digital inputs or programmable to flash memory




RoHS

MOTOR COnnECTIOnS Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors, or DC brush motors Hall U, V, W Digital Hall signals, single-ended Digital Encoder Quadrature encoder signals, A, /A, B, /B, X, /X), differential (X or Index signal not required) 5 MHz maximum line frequency (20 M counts/sec) 26LS32 differential line receiver with 121 Ω terminating resistor between complementary inputs Analog Encoder Sin/cos, differential line driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differential) centered about 2.5 Vdc typical. Common-mode voltage 0.25 to 3.75 Vdc Signals Sin(+), sin(-), cos(+), cos(-) frequency 230 kHz maximum line (cycle) frequency Interpolation Programmable: 10 bits/cycle (1024 counts/cycle) Hall & encoder power +5 Vdc ±2% @ 250 mAdc max, current limited to 750 mAdc @ +1 Vdc if output overloaded Motemp [In5] Motor overtemperature sensor input. Active level programmable Programmable to disable drive when motor over-temperature condition occurs Same input circuit as GP digital inputs (Digital Inputs above) Brake [OUT1,2,3] programmable for motor brake function, external flyback diode required

STATUS InDICATORS Amp Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition CAN Status Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specification 303-3

PROTECTIOnS HV Overvoltage +HV > HVmax Drive outputs turn off until +HV < HVmax (See Input Power for HVmax) HV Undervoltage +HV < +20 Vdc Drive outputs turn off until +HV > +20 Vdc Drive over temperature Heat plate > 80ºC ±3 ºC Drive outputs turn off Short circuits Output to output, output to ground, internal PWM bridge faults I2T Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Digital inputs programmable to detect motor temperature switch

MECHAnICAL & EnVIROnMEnTAL Size 6.58 in (167 mm) X 3.89 in (98.8 mm) X 1.17 in (29.7 mm) Weight 0.94 lb (0.43 kg) Ambient temperature -40ºC to +70ºC operating, -50ºC to +85ºC storage Humidity 0 to 95%, non-condensing Contaminants Pollution degree 2 Environment IEC68-2: 1990 Cooling Heat sink and/or forced air cooling required for continuous power output

notes: 1. Digital input & output functions are programmable.

fEEDBACk

DIGITAL QUAD A/B EnCODER Type Quadrature, differential line driver outputs Signals A, /A, B, /B, (X, /X, index signals optional) frequency 5 MHz line frequency, 20 MHz quadrature count frequency

AnALOG EnCODER (-S OPTIOn) Type Sin/cos, differential line driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differential) centered about 2.5 Vdc typical. Common-mode voltage 0.25 to 3.75 Vdc Signals Sin(+), sin(-), cos(+), cos(-) frequency 230 kHz maximum line (cycle) frequency Interpolation 10 bits/cycle (1024 counts/cycle)

DIGITAL HALLS Type Digital, single-ended, 120° electrical phase difference Signals U, V, W Frequency Consult factory for speeds >10,000 RPM

EnCODER POWER SUPPLy Power Supply +5 Vdc @ 400 mA to power encoders & Halls Protection Current-limited to 750 mA @ 1 Vdc if overloaded Encoder power developed from +24 Vdc so position information is not lost when AC mains power is removed




RoHS

3.90 [99.1]

4.07 [103.4]

3.38 [85.6]

.27 [6.86]

.59 [15.0]

6.31 [160.3]

1.17 [29.7]

6.58 [167]

6.31 [160.3]

2.00 [50.8]

.88 [22.4]

.13 [7.87]

DIMEnSIOnS

Weights: Drive: 0.94 lb (0.43 kg) Heatsink: 1.0 lb (0.45 kg)

nOTES1. Dimensions shown in inches [mm].




RoHS

CME 2 SOfTWAREDr ive setup i s fas t and easy us ing CME 2 so f tware communicat ing v ia RS-232 or over the CAn bus . All of the operations needed to configure the drive are accessible through this powerful and intuitive program. Auto-phasing of brushless motor Hall sensors and phase wires eliminates “wire and try”. Connections are made once and CME 2 does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated.Motor data can be saved as .ccm files. Drive data is saved as .ccx files that contain all drive settings plus motor data. This eases system management as fi les can be cross-referenced to drives. Once a drive configuration h a s b e e n c o m p l e t e d s y s t e m s c a n b e r e p l i c a t e d e a s i l y w i t h t h e s a m e s e t u p a n d p e r f o r m a n c e . When operating as a stand-alone drive that takes command inputs from an external controller, CME 2 is used for configuration. When operated as a CAn node, CME 2 can be used for programming before and after installation in a CAn network. Accelnet can also be controlled via CME 2 while it is in place as a CAn node. During this process, drive operation as a CAn node is suspended. When adjustments are complete, CME 2 relinquishes control of the drive and returns it to the CAn node state.

COMMUnICATIOnS

6

9

1

5

RxDTxD

Gnd

D-Sub 9M(DTE)

6

9

1

5

D-Sub 9F

RxD TxD

1 2 3 4 5 6

RJ-11(DTE)

RxD3 2TxD2 5

Gnd

RxD

TxD

Gnd5 3

RxD TxD

1 2 3 4 5 6

RJ-11(DTE)

RS-232 COMMUnICATIOnAccelnet operates as a DTE device from a three-wire, full-duplex RS-232 port at 9,600 to 115,200 Baud. COM port settings must be “n81” (no parity, 8 data-bits, 1 stop-bit). The SER-Ck Serial Cable kit provides an adapter that connects to the COM port of a PC (a 9 position, male D-Sub connector) and accepts a modular cable with RJ-11 connectors for connection to the Accelnet RS-232 port (J6).

RS-232 “MULTI-DROP”The RS-232 specification makes no allowance for more than two devices on a serial link. But, multiple Accelnet drives can communicate over a single RS-232 port by daisy-chaining a master drive to other drives using CAn cables. In the CAn protocol, address 0 is reserved for the CAn master and thereafter all other nodes on a CAn network must have unique, non-zero addresses. When the Accelnet CAn address is set to 0, it acts as a CAn master, converting the RS-232 data into CAn messages and passing it along to the other drives which act as CAn nodes.

SER-Ck SERIAL CABLE kIT ADAPTER COnnECTIOnS J5 SIGnALSPC COM PORT SIGnALS

CANopen

RS-232

CANopen

CAN Addr 0CAN Master CAN Node CAN Node

CAN Addr 1 CAN Addr n

ASCII COMMUnICATIOnSThe Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet, Stepnet, and Xenus series amplifiers over an RS-232 serial connection. For instance, after basic amplifier configuration values have been programmed using CME 2, a control program can use the ASCII Interface to:• Enable the amplifier in Programmed Position mode.• Home the axis.• Issue a series of move commands while monitoring position, velocity, and other run-timevariables.Additional information can be found in the ASCII Programmers Guide on the Copley website:http://www.copleycontrols.com/motion/downloads/pdf/ASCII_ProgrammersGuide.pdf




RoHS

DEVICEnETDevicenet operation is a communications protocol that uses the CAn bus for the hardware layer. It is employed by Allen-Bradley PLC’s and enables Accelnet drives to be controlled directly from A-B PLC’s.

CAnOPEn COMMUnICATIOnAccelnet uses the CAn physical layer signals CAnH, CAnL, and GnD for connection, and CAnopen protocol for communication. Before installing the drive in a CAn system, it must be assigned a CAn address. A maximum of 127 CAn nodes are allowed on a single CAn bus. The rotary switch on the front panel controls the four lower bits of the seven-bit CAn address. When the number of nodes on a bus is less than sixteen, the CAn address can be set using only the switch.For installations with sixteen or more CAN nodes on a network CME 2 can be used to configure Accelnet to use the rotary switch, or combinations of digital inputs and programmed offset in flash memory to configure the drive with a higher CAN node address.

CAnOPEn nETWORkInGBased on the CAn V2.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost and noise-immunity are essential, CAnopen adds support for motion-control devices and command synchronization. The result is a highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple axes to coordinate moves as if they were driven from a single control card.

DRIVE STATUS LEDA single bi-color LED gives the state of the drive by changing color, and either blinking or remaining solid. The possible color and blink combinations are:

• Green/Solid: Drive Ok and enabled. Will run in response to reference inputs or CAnopen commands.• Green/Slow-Blinking: Drive Ok but nOT-enabled. Will run when enabled.• Green/Fast-Blinking: Positive or negative limit switch active. Drive will only move in direction not inhibited by limit switch.• Red/Solid: Transient fault condition. Drive will resume operation when fault is removed.• Red/Blinking: Latching fault. Operation will not resume until drive is Reset.

note: Red & green led on-times do not overlap. LED color may be red, green, off, or flashing of either color.

CAn STATUS LED

Drive fault conditions:• Over or under-voltage• Motor over-temperature• Encoder +5 Vdc fault• Short-circuits from output to output• Short-circuits from output to ground• Internal short circuits• Drive over-temperature

faults are programmable to be either transient or latching

J4,5

CAN Status LED

J4,5

Drive Status LED




RoHS

6

9

1

5

D-Sub 9F

3 3

2 2

18

CAN_L

CAN_GND

CAN_H

CAN_L

RJ-45

CAN_GND

CAN_H7 1

AnALOG REfEREnCE InPUTA single ±10 Vdc differential input takes inputs from controllers that use PID or similar compensators, and outputs a current command to the drive. Drive output current or velocity vs. reference input voltage is programmable.

CAnOPEnDual RJ-45 connectors that accept standard Ethernet cables are provided for CAn bus connectivity. Pins are wired-through so that drives can be daisy-chained and controlled with a single connection to the user’s CAn interface. A CAn terminator should be placed in the last drive in the chain. The XTL-nk connector kit provides a D-Sub adapter that plugs into a CAn controller and has an RJ-45 socket that accepts the Ethernet cable.

XTL-nk CAn COnnECTOR kITThe kit contains the XTL-CV adapter that converts the CAn interface D-Sub 9M connector to an RJ-45 Ethernet cable socket, plus a 10 ft (3 m) cable and terminator. Both connector pin-outs conform to the CiA DR-303-1 specification.

InDEXInGAs an indexing drive, Xenus can be controlled from digital I/O lines or via CAnopen, ASCII, or Devicenet communications. Up to 32 sequences can be addressed with an additional priority sequence that can be launched from a single input or data-command. A sequence can consist of moves, homing, gain changes, time delays, wait-for-input, set-output, or camming, with each containing combinations of these. Additional flexibility is provided by the ability to replace program constants (i.e. move distance) with register addresses. A register is a storage location in drive RAM memory and can be changed via RS-232, CAnopen, or Devicenet communications. Using this technique a PLC can launch an index with digital I/O, and change the parameters over an ASCII link to find-tune the machine operation without changing the basic PLC program.

COMMAnD InPUTS

CAMMInGIn camming mode Xenus synchronizes its motion with the encoder of an external device using cam tables that are stored in flash memory. A cam-table consists of two columns of numbers the first of which contains master encoder position values, and the second of which contains slave positions. When the cam profile is initiated position feedback from the external master encoder is compared to entries in the master column. When the master encoder position equals a value in the master column, the position in the slave column is sent to the drive’s position loop. In this way, non-linear motion profiles can be executed from an encoder that tracks the position of moving machinery. Initiation of a camming move can be done with the master-encoder’s index signal or from a digital input. for testing or stand-alone operation the master encoder can be internal to Xenus where it’s frequency is programmable. Up to 10 cam tables can be stored in Xenus and each can have its own master encoder, trigger source and offsets.

J6 CAn COnnECTIOnS

J4,5

Pin 8 Pin 1

CopleyControlsCorp.

DIffEREnTIAL InPUT COnfIGURATIOn

100 pF

1k

+5 V

10k

10k

10k

74HC14

[IN6]

[IN7-]

+5 V

100 pF

100 pF

100 pF

100 pF

10k

[IN9+]

[IN10+]

[IN8-]

1k

1k

1k

1k

10k

10k

33 nF

10k

74HC14

MAX3283

[IN11][IN12]

SInGLE-EnDED InPUT COnfIGURATIOn

100 pF

1k

2.5V+5 V

10k100 pF

1k

+5 V

10k

[IN6]

74HC14

MAX3281

33 nF

10k

10k

10k

[IN11][IN12]

+

[IN7][IN8]

100 pF

1k

MAX3281

[IN9][IN10]

InPUTS AnD fUnCTIOnS

DIGITAL REfEREnCE InPUTSDigital signals for control of current, velocity, and position can be single-ended or differential. Digital inputs [In7-10] have high-speed input filters and are programmable for signals in several formats.for single-ended signals, inputs [In9] and [In10] are used. for differential signals, inputs [In9] & [In10] should be positive with reference to their complements [In7] and [In8]. for clarity, the differential pairs are shown with the addition of +/- signs to indicate their relative polarity. In single-ended mode, inputs [In7] and [In8] are available as general purpose inputs.The table below shows the various combinations of inputs and control modes for both single-ended and differential operation.Current (torque, force) or velocity commands can be in one or two-wire format. In the one-wire format (50% PWM), a single input takes a square waveform that has a 50% duty cycle when the drive output should be zero. Thereafter, increasing the duty cycle toward 100% will command a maximum positive output, and decreasing the duty cycle toward 0% will produce a maximum negative output.

Single-Ended Differential

Signal format

[In9] [In10] [In9+], [In7-] [In10+], [In8-]Control Mode

PWM / Dir PWM Dir PWM Dir Current, VelocityPWM 50% PWM 50% no Connect PWM 50% no Connect

Pulse / Dir Pulse Dir Pulse Dir

PositionCU / CD CU (CW) CD (CCW) CU (CW) CD (CCW)

Quad A/B B A B A

Accelnet R20RUGGEDIZED DIGITAL SERVO DRIVE

fOR BRUSHLESS/BRUSH MOTORS


RoHS

CopleyControlsCorp.

DIGITAL InPUT CIRCUITS

DIGITAL OUTPUTSDigital outputs are open-drain MOSFETs with 1 kΩ pull-up resistors to +5 Vdc. These can sink up to 1 Adc from external loads operating from power supplies to +30 Vdc. When driving inductive loads such as a motor brake, an external fly-back diode is required. The diode in the output is for driving PLC inputs that are opto-isolated and connected to +24 Vdc. The diode prevents conduction from +24 Vdc through the 1 kΩ resistor to +5 Vdc in the drive. This could turn the input on, giving a false indication of the drive output state.

These outputs are programmable to be on or off when active. Typical functions are drive fault indication or motor brake operation. Other functions are programmable.

DIGITAL InPUTSAccelnet has twelve digital inputs, eleven of which have programmable functions. Input [In1] is not programmable and is dedicated to the drive Enable function. This is done to prevent accidental programming of the input in such a way that the controller could not shut it down.

Two types of RC filters are used: GP (general purpose) and HS (high speed). Input functions such as Step/Direction, CW/CCW, Quad A/B are wired to inputs having the HS filters, and inputs with the GP filters are used for general purpose logic functions, limit switches, and the motor temperature sensor. Programmable functions of the digital inputs include:

• Positive Limit switch • Step & Direction, or CW/CCW • Negative Limit switch step motor position commands • Home switch • Quad A/B master encoder • Drive Reset position commands • PWM current or velocity commands • Motor over-temperature • CAN address bits • Motion abort`

33nF

10k

10k 74HC14[IN1][IN2][IN3]

Programmable1/0

+5.0 V

33 nF

10k

10k

74HC14

[IN4]

+5.0 VProgrammable

1/0

*3.3 nF

*[IN5]

*4.99k

* [In5] connects to J2 for motor overtemp switch

24VDC MAX 24VDC MAX

BRAkE OUTPUT [OUT4]This output is an open-drain MOSFET with an internal flyback diode connected to the +24 Vdc input. It can sink up to 1A from a motor brake connected to the +24 Vdc supply.The operation of the brake is programmable with CME 2. It can also be programmed as a general-purpose digital output.

Group Inputs

A 1,2,3

B 4,5

C 6,7,8

D 9,10,11,12

PULL-UP/PULL-DOWn COnTROLIn addition to the active level and function for each programmable input, the input resistors are programmable in four groups to either pull up to +5 Vdc, or down to ground. Grounded inputs with HI active levels interface to PLC’s that have PnP outputs that source current from +24 Vdc sources. Inputs pulled up to +5 Vdc work with open-collector, or nPn drivers that sink current to ground. The table below shows the PU/PD groups and the inputs they control.`




RoHS




RoHSMOTOR COnnECTIOnSMotor connections consist of: phases, Halls, encoder, thermal sensor, and brake. The phase connections carry the drive output currents that drive the motor to produce motion. The Hall signals are three digital signals that give absolute position feedback within an electrical commutation cycle. The encoder signals give incremental position feedback and are used for velocity and position modes, as well as sinusoidal commutation. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect the motor. A brake can provide a fail-safe way to prevent movement of the motor when the drive is shut-down or disabled.

HALL SIGnALSHall signals are single-ended signals that provide absolute feedback within one electrical cycle of the motor. There are three of them (U, V, & W) and they may be sourced by magnetic sensors in the motor, or by encoders that have Hall tracks as part of the encoder disc. They typically operate at much lower frequencies than the motor encoder signals, and in Accelnet they are used for commutation-initialization after startup, and for checking the motor phasing after the drive has switched to sinusoidal commutation.

MOTOR BRAkEDigital outputs [OUT1,2,3] can be programmed to power a motor-mounted brake. These brake the motor when they are in an unpowered state and must have power applied to release. This provides a fail-safe function that prevents motor motion if the system is in an unpowered (uncontrolled) state. Because brakes are inductive loads, an external flyback diode must be used to control the coil voltage when power is removed. The timing of the brake is programmable.

MOTOR TEMPERATURE SEnSORDigital input [In5] connects to J2 for use with a motor overtemperature switch. The input should be programmed as a pull-up to +5 Vdc if the motor switch is grounded.

AnALOG SIn/COS EnCODER (-S MODELS)The Sin and Cos inputs are differential with 121 Ω terminating resistors and accept 1.0 Vp-p signals in the format used by encoders with analog outputs such as Heidenhain, Stegman, and Renishaw, or with ServoTube motors. The resolution is programmable from 4 to 1024 counts/cycle.

DIGITAL EnCODERSThe input circuit for the motor encoder signals is a differential line-receiver with R-C filtering on the inputs. A 121 Ω resistor is across each input pair to terminate the signal pairs in the cable characteristic impedance. Encoders with differential outputs are required because they are less susceptible to noise that can be picked on single-ended outputs. for best results, encoder cabling should use twisted pair cable with one pair for each of the encoder outputs: A-/A, B-/B, and X-/X. Shielded twisted-pair is even better for noise rejection.

MOTOR PHASE COnnECTIOnSThe drive output is a three-phase PWM inverter that converts the DC buss voltage (+HV) into three sinusoidal voltage waveforms that drive the motor phase-coils. Cable should be sized for the continuous current rating of the drive. Motor cabling should use twisted, shielded conductors for CE compliance, and to minimize PWM noise coupling into other circuits. The motor cable shield should connect to motor frame and the drive HV ground terminal (J1-4) for best results.

= SHIELDED CABLES REQUIRED fOR CE COMPLIAnCE




RoHSMULTI-MODE EnCODER PORTThis port consists of three differential input/output channels that take their functions from the Basic Setup of the drive.On drives with quad A/B encoder feedback, the port works as an output buffering the signals from the encoder. With resolver or sin/cos encoder versions, the feedback is converted to quad A/B signals with programmable resolution. These signals can then be fed back to an external motion controller that closes the position or velocity loops. As an input, the port can take quad A/B signals to produce a dual-loop position control system or use the signals as master-encoder feedback in camming mode. In addition, the port can take stepper command signals (CU/CD or Pulse/Direction) in differential format.

1k

22 pF

22 pF

2.2k SecondaryEncoder Input

Input/OutputSelect

Quad A/B FeedbackEncoder

26CS31

26CS32

+5V

1k

1k

22 pF

22 pF


Input/OutputSelect

Emulated Quad A/Bsignals from analog Sin/Cos encoderor resolver

26CS31

26CS32

+5V

1k

1k

22 pF

22 pF


Input/OutputSelect

26CS31

26CS32

+5V

1k

AS BUffERED OUTPUTS fROM A DIGITAL QUADRATURE fEEDBACk EnCODERWhen using a digital quadrature feedback encoder, the A/B/X signals drive the multi-mode port output buffers directly. This is useful in systems that use external controllers that also need the motor feedback encoder signals because these now come from J7, the Control connector. In addition to eliminating “y” cabling where the motor feedback cable has to split to connect to both controller and motor, the buffered outputs reduce loading on the feedback cable that could occur if the motor encoder had to drive two differential inputs in parallel, each with it’s own 121 ohm terminating resistor.

AS EMULATED QUAD A/B/X EnCODER OUTPUTS fROM An AnALOG SIn/COS fEEDBACk EnCODERAnalog sin/cos signals are interpolated in the drive with programmable resolution. The incremental position data is then converted back into digital quadrature format which drives the multi-mode port output buffers. Some analog encoders also produce a digital index pulse which is connected directly to the port’s output buffer. The result is digital quadrature A/B/X signals that can be used as feedback to an external control system.

AS A MASTER OR CAMMInG EnCODER InPUT fROM A DIGITAL QUADRATURE EnCODERWhen operating in position mode the multi-mode port can accept digital command signals from external encoders. These can be used to drive cam tables, or as master-encoder signals when operating in a master/slave configuration.

AS DIGITAL COMMAnD InPUTS In PULSE/DIRECTIOn,PULSE-UP/PULSE-DOWn, OR DIGITAL QUADRATURE EnCODER fORMATThe multi-mode port can also be used when digital command signals are in a differential format. These are the signals that typically go to [In9] and [In10] when they are single-ended. But, at higher frequencies these are likely to be differential signals in which case the multi-mode port can be used.

CopleyControlsCorp.

Motion Controller

Digital I/O

DC Power

+ -

5

4

J1

J3

Motemp [IN5]

+5 V @250mAOutput

Hall W

Hall V

Hall U

14

/Brake [OUT2]

Gnd

W

V

U

Motor U Motor V

Motor W

BRAKE

+24V

HALLS

U V W

ENCODERDIGITAL

B /B X /X

MOTOR

+5 & G

nd for E

ncoder + Hall

6Rev Enable [IN3]

5 Fwd Enable [IN2]

18

19 Signal Gnd

4 Enable Input [IN1]

16 Fault Output [OUT1]

14

13

+HV Input

Gnd

1

2

3

ENC Ch. A ENC Ch. B

15

Fuse

Fuse

Fuse

J2

21

22

23

26

24

25

1

1

Motion Controller

Encoder Feedback

Earth

Circuit Gnd

Pulse

Dir

/CW

/CCW

Position Ref Inputs

Torque & Velocity Ref Inputs

Digital Ref Input [IN10]

Digital Ref Input [IN9]

PWM 50%

none

POL (DC)

PWM 0~100 %

/A

A

/A

A

/B

B

/X

X

20

Signal Gnd

Gnd

+5V @ 250mA

[OUT3]

Stand-Alone Mode

Signals

6

Aux HV Input

7 [IN4]

10 [IN6]

11 [IN7]

12 [IN8]

9 [IN12]

8 [IN11]

Amplifier mounting screw

26LS31

Note 2

3 Ref(+)

2 Ref(-)

DAC Out

0V

Analog Ref Input

14

13

12

11

8

7

3

6

9

15

5

10

2

4




RoHS

quad a/B

DRIVE COnnECTIOnS

nOTES1. The functions of input signals on J2-10, and J3-5,6,7,8,9,10,11,12,13, and 14

are programmable. Default functions are shown.

2. The function of [In1] on J3-4 is always Drive Enable and is not programmable

3. Pins J3-20, J2-2, and J2-4 all connect to the same +5 Vdc @ 250 mAdc power source. Total current drawn from both pins cannot exceed 250 mAdc.

4. Multi-mode encoder port (J3-21~26) is shown configured for buffered-output of a digital primary motor encoder.

5. Connections for primary digital or analog encoders are both shown, but only one can be used at a time.

Note 4


Note 5




RoHS

quad a/B

PIn SIGnAL

1 Motor U Output

2 Motor V Output

3 Motor W Output

4 Ground (HV, Signal)

5 +HV Input

6 Aux HV Input

J1: MOTOR & POWERJ1 CABLE COnnECTOR:Terminal block,6 position, 5.08 mm, black Beau: 860506 RIA: 31249106 Weidmuller: 1526810000 PCD: ELfP06210 Weco: 121-A-111/06 Tyco: 796635-6

J4, J5 CABLE COnnECTOR:RJ-45 style, male, 8 positionCable: 8-conductor, modular type

J4-J4 CAn BUS

PIN SIgNal

1 CAn_H

2 CAn_L

3 CAn_GnD

4 no Connection

5 Reserved

6 (CAn_SHLD) 1

7 CAn_GnD

8 (CAn_V+) 1RJ-11 style, male, 6 position

Cable: 6-conductor modular type

J6 CABLE COnnECTOR

J6 RS-232

PIn SIGnAL

1 no Connection

2 RxD

3 Signal Ground

4 Signal Ground

5 TxD

6 no Connection

J3 CABLE COnnECTOR: High-Density D-Sub 26 Position, Male #4-40 locking screws

J2 CABLE COnnECTOR: High-Density D-Sub 15 Position, Male #4-40 locking screws

J3 COnTROL SIGnALS

J2 MOTOR fEEDBACk

PIN SIgNal PIN SIgNal PIN SIgNal

1 frame Gnd 10 [In6] HS 19 Signal Gnd

2 Ref(-) 11 [In7] HS 20 +5 Vdc (note 1)

3 Ref(+) 12 [In8] HS 21 Multi Encoder /X

4 [In1] Enable 13 [In9] HS 22 Multi Encoder X

5 [In2] GP 14 [In10] HS 23 Multi Encoder /B

6 [In3] GP 15 Signal Gnd 24 Multi Encoder B

7 [In4] GP 16 [OUT1] 25 Multi Encoder /A

8 [In11] GP 17 [OUT2] 26 Multi Encoder A

9 [In12] GP 18 [OUT3]


1 frame Gnd 6 Hall V 11 Encoder /B

2 +5 Vdc (note 1) 7 Encoder /X 12 Encoder B

3 Hall U 8 Encoder X 13 Encoder /A

4 +5 Vdc (note 1) 9 Hall W 14 Encoder A

5 Signal Gnd 10 [In5] Motemp 15 Signal Gnd

CopleyControlsCorp.

DRIVE COnnECTIOnS

+ -

1

Stand-Alone Mode

Signals

MOTOR

DCPower

EarthCircuit Gnd

W

V

U* Fuse

* Fuse

BRAKE

+24V

* Optional

J1

Motor U

Motor V

Motor W

+HV Input

Gnd

Aux HV Input

14/Brake

[OUT2]

J3

+5V @250mA

[OUT3]

[IN4]

[IN6]

[IN7]

[IN8]

[IN12]

[IN11]

18

20

7

10

11

12

9

8

Amplifier mounting screw

Signal Gnd

Fault Output[OUT1]

6 Rev Enable[IN3]

5

4

16

Fwd Enable[IN2]

Enable InputNote 2

19

[IN1]

+5 V @250mAOutput

Motemp[IN5]

Gnd

Gnd

15

5

10

2

4

Digital Ref Input[IN10]

Input [IN9]Digital Ref

+5 &

Gnd

for E

nco

der +

Hall

Hall W

Hall V

Hall U

HALLS

ENCODERANALOG

DIGITALENCODER

INDEX

U

V

W

X

/X

Sin(+)

Sin(-)

Cos(+)

Cos(-)

J2

Signal Gnd

Ref(+)

Ref(-)

AnalogRef Input

14

13

15

21

22

23

26

24

25

1 126LS31

3

2

/A

A

/B

B

/X

X

14

13

12

11

8

7

3

6

9

none POL

0~100PWM50%

(DC)

PWM

%Pulse

Dir

/CW

/CCW

ENCCh. A

ENCCh. B

Position Ref Inputs Torque & VelocityRef Inputs

MotionController

DigitalI/O

MotionController

EncoderFeedback

DAC Out

0V

Fuse5

4

1

2

3

6

Note: CE symbols indicate shieldingon cables and grounding

connections that are required for CE compliance




RoHS

Sin/coS (-S option)

nOTEVS1. The functions of input signals on J2-10, and J3-5,6,7,8,9,10,11,12,13, and 14

are programmable. Default functions are shown.

2. The function of [In1] on J3-4 is always Drive Enable and is not programmable

3. Pins J3-20, J2-2, and J2-4 all connect to the same +5 Vdc @ 250 mAdc power source. Total current drawn from both pins cannot exceed 250 mAdc.

4. Multi-mode encoder port (J3-21~26) is shown configured for buffered-output of a digital primary motor encoder.




RoHS

Sin/coS (-S option)

J1 CABLE COnnECTOR:Terminal block,6 position, 5.08 mm, black Beau: 860506 RIA: 31249106 Weidmuller: 1526810000 PCD: ELfP06210 Weco: 121-A-111/06 Tyco: 796635-6

J3 COnTROL SIGnALS

J3 CABLE COnnECTOR: High-Density D-Sub 26 Position, Male

J2 CABLE COnnECTOR: High-Density D-Sub 15 Position, Male

J2 MOTOR fEEDBACk

J1: MOTOR & POWER

J4, J5 CABLE COnnECTOR:RJ-45 style, male, 8 positionCable: 8-conductor, modular type

J4-J4 CAn BUS

RJ-11 style, male, 6 position

Cable: 6-conductor modular type

J6 CABLE COnnECTOR

J6 RS-232


1 frame Gnd 10 [In6] HS 19 Signal Gnd

2 Ref(-) 11 [In7] HS 20 +5 Vdc (note 1)

3 Ref(+) 12 [In8] HS 21 Multi Encoder /X

4 [In1] Enable 13 [In9] HS 22 Multi Encoder X

5 [In2] GP 14 [In10] HS 23 Multi Encoder /B

6 [In3] GP 15 Signal Gnd 24 Multi Encoder B

7 [In4] GP 16 [OUT1] 25 Multi Encoder /A

8 [In11] GP 17 [OUT2] 26 Multi Encoder A

9 [In12] GP 18 [OUT3]


1 frame Gnd 6 Hall V 11 Encoder Cos(-)

2 +5 Vdc (note 1) 7 Encoder /X 12 Encoder Cos(+)

3 Hall U 8 Encoder X 13 Encoder Sin(-)

4 +5 Vdc (note 1) 9 Hall W 14 Encoder Sin(+)

5 Signal Gnd 10 [In5] Motemp 15 Signal Gnd

PIN SIgNal

1 Motor U Output

2 Motor V Output

3 Motor W Output

4 Ground (HV, Signal)

5 +HV Input

6 Aux HV Input

PIN SIgNal

1 CAn_H

2 CAn_L

3 CAn_GnD

4 no Connection

5 Reserved

6 (CAn_SHLD) 1

7 CAn_GnD

8 (CAn_V+) 1

PIn SIGnAL

1 no Connection

2 RxD

3 Signal Ground

4 Signal Ground

5 TxD

6 no Connection

CopleyControlsCorp.

AccelnetAmplifier

SwitchingPowerSupply

+HV

Gnd

(+)

(-)




RoHS

POWER SUPPLIESAccelnet R20 operates typically from transformer-isolated, unregulated DC power supplies. These should be sized such that the maximum output voltage under high-line and no-load conditions does not exceed the drives maximum voltage rating. Power supply rating depends on the power delivered to the load by the drive. In many cases, the continuous power output of the drive is considerably higher than the actual power required by an incremental motion application.

Operation from regulated switching power supplies is possible if a diode is placed between the power supply and drive to prevent regenerative energy from reaching the output of the supply. If this is done, there must be external capacitance between the diode and drive.

MOUnTInG & COOLInGAccelnet R20 has slots for mounting to panels at 0° or 90°. Cooling is by conduction from drive heatplate to mounting surface, or by convection to ambient.

A heatsink (optional) is required for the drive to deliver the rated continuous output current. Depending on the drive mounting and cooling means this may not be required.

GROUnDInG COnSIDERATIOnSPower and control circuits in Accelnet R20 share a common circuit-ground (Gnd on J1-4, and Signal Ground on J2-2, 10 ,15 ,20, and J3-2, 23). Input logic circuits are referenced to Signal Ground, as are analog Reference inputs, digital outputs, encoder and Hall signals. for this reason, drive Gnd terminals should connect to the users’ common ground system so that signals between drive and controller are at the same common potential, and to minimize noise. The system ground should, in turn, connect to an earthing conductor at some point so that the whole system is referenced to “earth”. The CAn ports are optically isolated from the drive circuits.

Because current flow through conductors produces voltage-drops across them, it is best to connect the drive HV Return to system earth, or circuit-common through the shortest path, and to leave the power-supply floating. In this way, the power supply (-) terminal connects to ground at the drive HV Return terminals, but the voltage drops across the cables will not appear at the drive ground, but at the power supply negative terminal where they will have less effect.

Motor phase currents are balanced, but currents can flow between the PWM outputs, and the motor cable shield. To minimize the effects of these currents on nearby circuits, the cable shield should connect to Gnd (J1-4).

The drive case does not connect to any drive circuits. Connections to the case are provided on connectors J2-1, and J3-1. Cables to these connectors should be shielded for CE compliance, and the shields should connect to these terminals. When installed, the drive case should connect to the system chassis. This maximizes the shielding effect of the case, and provides a path to ground for noise currents that may occur in the cable shields.

Signals from controller to drive are referenced to +5 Vdc, and other power supplies in user equipment. These power supplies should also connect to system ground and earth at some point so that they are at same potential as the drive circuits.

The final configuration should embody three current-carrying loops. First, the power supply currents flowing into and out of the drive at the +HV and Gnd pins on J1. Second the drive outputs driving currents into and out of the motor phases, and motor shield currents circulating between the U, V, and W outputs and Gnd. And, lastly, logic and signal currents connected to the drive control inputs and outputs.

for CE compliance and operator safety, the drive should be earthed by using external tooth lockwashers under the mounting screws. These will make contact with the aluminum chassis through the anodized finish to connect the chassis to the equipment frame ground.

AUXILIARy HV POWERAccelnet R20 has an input for AUX- HV. This is a voltage that can keep the drive communications and feedback circuits active when the PWM output stage has been disabled by removing the main +HV supply. This can occur during EMO (Emergency Off) conditions where the +HV supply must be removed from the drive and powered-down to ensure operator safety. The AUX HV input operates from any DC voltage that is within the operating voltage range of the drive and powers the DC/DC converter that supplies operating voltages to the drive DSP and control circuits.

When the drive +HV voltage is greater than the AUX-HV voltage it will power the DC/DC converter. Under these conditions the AUX-HV input will draw no current.





RoHS




RoHS

R20-nC-10 (10 ft)R20-nC-01 (1 ft)

DB-9 TO RJ-45 ADAPTER & 10 fT CABLE (2)

SER-Ck

SERIAL CABLE kIT (1)

notes:

1. Only one SER-Ck is needed per installation

2. Included in CAnopen network kit R20-nk

3. Order one cable (1 or 10 ft) for each additional drive

CAn TERMInATOR (2)

(for last node on CAn bus)

CAn nETWORk CABLE (3)

R20-Ck or R20-CA

POWER SUPPLyMains-isolated DC Required for all systems User-supplied

Multiple drives are connected as nodes on a CAn bus

Individual drives are configured using an RS-232 connection and CME 2™ software

HV/MOTOR, fEEDBACk & COnTROL COnnECTOR kIT

+HV

R20-HkHEATSInk

(Optional)

CAnOPEn COnfIGURATIOn

PART nUMBER DESCRIPTIOnR20-055-18 Accelnet R20 Servo drive, 55 Vdc, 6/18 A

R20-090-09 Accelnet R20 Servo drive, 90 Vdc 3/9 A

R20-090-18 Accelnet R20 Servo drive, 90 Vdc, 6/18 A




R20-CkConnector kit for Accelnet R20 (P1 plug, and plugs with soldercups & backshells for P2 & P3)

R20-nkCAn network kit (Sub-D 9f to RJ-45 adapter, 10 ft. modular cable, and CAn terminator)

R20-nC-10 CAn network cable, 10 ft (3 m)

R20-nC-01 CAn network cable, 1 ft (0.3 m)

CME 2 CD with CME 2 Configuration Software

SER-Ck RS-232 Cable kit

R20-Hk Heatsink (optional)




RoHS

+HV/MOTOR fEEDBACk AnD COnTROL COnnECTOR kIT

SER-Ck

R20-Ck R20-CA

SERIAL CABLE kIT (1)

POWER SUPPLy

Mains-isolated DC Required for all systems User-supplied

HEATSInk

(Optional)

Current or Velocity Mode Signals: PWM & Polarity PWM 50% ±10V Analog

Position-mode Signals: Step/Direction CW/CCW ±10V Analog

Electronic Gearing Signals: A/B Quadrature encoder

CME 2™ is used for setup and configuration.

R20-Hk

+HV

STAnD-ALOnE COnfIGURATIOn

PART nUMBER DESCRIPTIOnR20-055-18 Accelnet R20 Servo drive, 55 Vdc, 6/18 A

R20-090-09 Accelnet R20 Servo drive, 90 Vdc 3/9 A





R20-CkConnector kit for Accelnet R20 (P1 plug, and plugs with soldercups & backshells for P2 & P3)

CME 2 CD with CME 2 Configuration Software

SER-Ck RS-232 Cable kit

R20-Hk Heatsink (optional)

CopleyControlsCorp.

0

5

10

15

20

25

30 180

85

55

25

6543210

Output Current (A)

Am

plifi

er D

issi

patio

n (W

)

Amplifier Dissipation vs.Output Current

0

5

10

15

20

2590

55

25

121086420

Output Current (A)

Am

plifi

er D

issi

patio

n (W

)

Amplifier Dissipation vs.Output Current




RoHSPOWER DISSIPATIOnThe charts on this page show the drive internal power dissipation for the Accelnet R20 models under differing power supply and output current conditions. Drive output current is calculated from the motion profile, motor, and load conditions. The values on the chart represent the RMS (root-mean-square) current that the drive would provide during operation. The +HV values are for the average DC voltage of the drive power supply.

When +HV and drive output current are known, the drive power dissipation can be found from the chart. Once this is done use the data on the facing page to find drive thermal resistance. From this calculate the maximum ambient operating temperature. If this result is lower than the known maximum ambient temperature then a mounting with a lower thermal resistance must be used.

When the drive is disabled the power dissipation is shown on the chart as “Off”. note that this is a different value than that of an drive that is “On” but outputting 0 A current.

R20-090-36

180 VDC MODELS

R20-090-18 R20-055-18

R20-090-09

55 & 90 VDC MODELS

R20-180-18

R20-180-09




RoHS

Thermal data for convection-cooling with a heatsink assumes a vertical mounting of the drive on a thermally conducting surface. Heatsink fins run parallel to the long axis of the drive. When fan-cooling is used vertical mounting is not necessary to guarantee thermal performance of the heatsink.

Thermal resistance is a measure of the temperature rise of the drive heatplate due to power dissipation in the drive. It is expressed in units of °C/W where the degrees are the temperature rise above ambient.

E.g., an drive dissipating 16 W mounted with no heatsink or fan would see a temperature rise of 46 °C above ambient based on the thermal resistance of 2.9 °C/W. Using the drive maximum heatplate temperature of 70 °C and subtracting 46 °C from that would give 24 °C as the maximum ambient temperature the drive in which the ampifier could operate before going into thermal shutdown. To operate at higher ambient temperatures a heatsink or forced-air would be required.

EnD VIEWS VERTICAL MOUnTInG

THERMAL RESISTAnCEMOUnTInG

TOP VIEW VERTICAL MOUnTInG

WITH fAn

heatSINk + faN °C/W

fORCED-AIR, 300 LfM 0.6

heatSINk, No faN °C/W

COnVECTIOn 1.7

No heatSINk, No faN °C/W

COnVECTIOn 2.9




RoHS

Rev 2.03_we 04/02/2008

MASTER ORDERInG GUIDE

Note: Specifications subject to change without notice

Add -S to part numbers above for sin/cos feedback (ServoTube motors)

Example: Order an R20-090-18-S servo drive with heatsink installed at factory and associated components:

Qty Item Remarks

1 R20-090-18-S-H Accelnet R20 servo drive 1 R20-Ck Connector kit 1 SER-Ck Serial Cable kit 1 CME2 CME 2™ CD

Download firmware from the web-site for DeviceNet operation http://www.copleycontrols.com/motion/downloads/zip/Devicenet.zip

ORDERInG EXAMPLE

QTy DESCRIPTIOn

COnnECTOR kIT R20-Ck

4 Connector, 6 Terminal, 5.08 mm

1 26 Pin Connector, High Density, D-Sub, Solder Cup

1 26 Pin Connector Backshell

1 15 Pin Connector, High Density, D-Sub, Solder Cup

1 15 Pin Connector Backshell

CAnOPEn nETWORk kIT R20-nk

1 Adapter Assy, DB9 female to RJ45 Jack (XTL-CV)

1 CAnopen network Cable, 10 ft. (XTL-nC-10)

1 CAnopen network Terminator (XTL-nT)

HEATSInk kIT R20-Hk

1 Heatsink, Low Profile

1 Heatsink Thermal Material

4 Heatsink Hardware

R20-CV Adapter Assembly, DB9 female to RJ45 Jack

R20-nC-10 CAnopen network Cable, 10 ft

R20-nC-01 CAnopen network cable, 1 ft

R20-nT CAnopen network Terminator

CME 2 CME 2 Drive Configuration Software on CD-ROM

SER-Ck Serial Cable kit

PART nUMBER DESCRIPTIOnR20-055-18 Accelnet R20 R20 Servo drive, 55 Vdc, 6/18 A

R20-090-09 Accelnet R20 R20 Servo drive, 90 Vdc 3/9 A

R20-090-18 Accelnet R20 R20 Servo drive, 90 Vdc, 6/18 A

R20-090-36 Accelnet R20 R20 Servo drive, 90 Vdc, 12/36 A



Date post:	18-Mar-2022
Category:	Documents
Upload:	others
View:	6 times
Download:	0 times

Copley RUGGEDIZED DIGITAL SERVO DRIVE Controls fOR ...

Documents